CN104808210B - A kind of fusion of imaging device and method of sonar and binocular vision imaging system - Google Patents
A kind of fusion of imaging device and method of sonar and binocular vision imaging system Download PDFInfo
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- CN104808210B CN104808210B CN201510180927.2A CN201510180927A CN104808210B CN 104808210 B CN104808210 B CN 104808210B CN 201510180927 A CN201510180927 A CN 201510180927A CN 104808210 B CN104808210 B CN 104808210B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
Abstract
The present invention relates to a kind of sonar and the fusion of imaging device and method of binocular vision imaging system, the device includes following system：Rigid support, sonograms system, binocular vision imaging system and the fusion of imaging processing system for connecting the simultaneously picture signal of fusion treatment sonograms system and binocular vision imaging system.Sonograms system sends sonar detection target object, and when finding target object, by rigid support close to target object；When the distance of rigid support and target object reaches setpoint distance, start binocular vision imaging system, picture signal is gathered by sonograms system and binocular vision imaging system respectively simultaneously；Fusion of imaging processing system fusion acquired image signal formation fused images.The present invention can effectively detect specific profile, surface information and the depth information of object in water, solve the problem of object being particularly under water under deep water perceives difficult, and strong solution is provided for the related work that is particularly under water under deep water.
Description
Technical field
The present invention relates to underwater imaging system, more specifically to melting for a kind of sonar and binocular vision imaging system
Synthesized image device and method.
Background technology
It is always the problem of being difficult to solve very well that the object being particularly under water under deep water, which is perceived,.Conventionally used sonar is carried out
The detection of object can only scan the information of a plane, can only know the Position Approximate of object and can not know the specific wheel of object
Wide and surface information, and it is slow by scanning object height to be influenceed to occur interference on depth direction, sweep speed.
And depth information of the picture without object caught is caught using common camera, it is impossible to perceptual object and itself
Distant relationships., must band using the pure passive binocular vision system detection that can have real-time display effect again because image-forming principle
Enter the mistake of imaging.
The content of the invention
The technical problem to be solved in the present invention is, for the defect of prior art, there is provided a kind of sonar and binocular vision
The fusion of imaging device and method of imaging system.
The technical solution adopted for the present invention to solve the technical problems is：Construct a kind of sonar and binocular vision imaging system
Fusion of imaging device.
In sonar of the present invention and the fusion of imaging device of binocular vision imaging system, including rigid support, sound
Sodium imaging system, binocular vision imaging system and connection and sonograms system and binocular vision imaging described in fusion treatment
The fusion of imaging processing system of the picture signal of system；The sonograms system includes being fixedly mounted on the rigid support
Sonar sensing probe and communicate the signal processing module that is connected with the sonar sensing probe；The binocular vision
Imaging system includes the binocular camera being fixedly mounted on the rigid support and is connected with binocular camera communication
Binocular cues processing module.
Preferably, the sonar sensing probe is simple beam sonar sensing probe.
Preferably, the rigid support includes being installed on anti-water chamber therein for the binocular camera；The waterproof
Chamber is provided with light penetrating panel corresponding with the taking lens of the binocular camera.
Preferably, the fusion of imaging processing system includes FPGA processing modules, parsing graphics module and fusion treatment
Module；
The FPGA processing modules are connected with the signal processing module and binocular cues processing module, and incite somebody to action both
The data of collection merge processing, are sent to the parsing graphics module；
Parsing graphics module and the FPGA processing modules communication is connected, and by described in after receive, merging
Data are parsed, and sonar image and binocular image are drawn out respectively；
The fusion treatment module is connected with the parsing graphics module, according to the height of sonar image offer, width
Degree, abscissa and depth information, travel through each region of the binocular image, and fusion obtains fused images.
Preferably, the binocular camera is fixedly mounted on the rigidity by setpoint distance with the sonar sensing probe and propped up
On frame.
In sonar of the present invention and the fusion of imaging device of binocular vision imaging system, the method for its fusion of imaging
Comprise the following steps：
S1：Sonograms system sends sonar detection target object, and when finding target object, rigid support is close
The target object；
Preferably, in the step S1, the sonograms system sends simple beam sonar and carries out target object detection.
S2：When the distance of the rigid support and the target object reaches setpoint distance, start binocular vision imaging
System, picture signal is gathered by the sonograms system and binocular vision imaging system respectively simultaneously；
Preferably, in the step S2, comprise the following steps：
S2-1：The sonar sensing probe of the sonograms system gathers the sonar signal of the target object reflection, and
It is sent to signal processing module to be handled, forms sonar image data；
S2-2：The binocular camera of the binocular cues processing module gathers the photosignal of the target object, and passes
Deliver to binocular cues processing module to be handled, form binocular image data.
S3：The described image signal formation fused images that fusion of imaging processing system fusion steps S2 is gathered.
Preferably, in the step S3, comprise the following steps：
S3-1：The FPGA processing modules of the fusion of imaging processing system receive the sonar image data and binocular image
Data, and carry out merging treatment, output to parsing graphics module；
S3-2：The parsing graphics module is simultaneously parsed the data after receive, merging, and sonar is drawn out respectively
Image and binocular image, output to fusion treatment module；
S3-3：Height, width, abscissa and depth letter that the fusion treatment module is provided according to the sonar image
Breath, travels through each region of the binocular image, and fusion obtains fused images.
Preferably, in the step S3-3, according to the binocular camera and the distance of sonar sensing probe position
Relation is put, using the center position and profile information of the target object, the sonar image and the binocular image is adjusted
In substantially overlap condition.
Implement the invention has the advantages that：The present invention passes through sonograms system and binocular vision imaging system
Fusion, can effectively detect specific profile, surface information and the depth information of object in water, solve and be particularly under water under deep water
Object the problem of perceive difficult, provide strong solution for the related work that is particularly under water under deep water.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of sonar of the present invention and the fusion of imaging device of binocular vision imaging system；
Fig. 2-1 is top view of the acoustic wave beam on test surface in the present invention in simple beam image-forming principle；
Fig. 2-2 is front view of the acoustic wave beam on test surface in the present invention in simple beam image-forming principle；
Fig. 2-3 is the wave beam for the returns to be received such as sonar is after wave beam is sent in the present invention in simple beam image-forming principle,
The schematic diagram of far and near different point cloud is drawn out in picture according to the time order and function received；
Fig. 2-4 is in the present invention in simple beam image-forming principle, it is assumed that have rod on the vertical plane of sonar detection
Schematic diagram；
Fig. 2-5 is that sound wave gets to the schematic diagram for the sonar image that rod is obtained in the present invention in simple beam image-forming principle；
Fig. 2-6 is in the present invention in simple beam image-forming principle, because 2 points of location of A, B may be different, depth
The reflection also schematic diagram of difference；
Fig. 3 is the workflow diagram of sonar of the present invention and the fusion of imaging device of binocular vision imaging system；
Fig. 4 is the blending algorithm flow chart of sonar image of the present invention and binocular vision image.
Reference numerals list：
1st, rigid support；2nd, sonograms system；3rd, binocular vision imaging system；4th, fusion of imaging processing system；5th, prevent
Water chamber；6th, the water surface.
Embodiment
In order to which technical characteristic, purpose and effect to the present invention are more clearly understood from, now compare accompanying drawing and describe in detail
The embodiment of the present invention.
As shown in figure 1, be the present invention sonar and binocular vision imaging system fusion of imaging device one embodiment,
Including rigid support 1, sonograms system 2, binocular vision imaging system 3 and fusion of imaging processing system 4 etc., it can pass through
The fusion of sonograms system 2 and binocular vision imaging system 3, can effectively detect specific profile, the surface letter of object in water
Breath and depth information, solve the problem of object being particularly under water under deep water perceives difficult, are to be particularly under water under deep water
Related work provides strong solution.
The rigid support 1 can be made variously-shaped as needed as the support member of whole device.As shown in figure 1,
In the present embodiment, the rigid support 1 is frame shape, to facilitate ship or other devices to carry.Sonograms system 2 and binocular vision
Imaging system 3 is fixedly mounted on the rigid support 1, so as to follow ship or other devices to move, carrys out searching target thing
Body, and carry out fusion of imaging.
Because the fusion of imaging device 4 needs to be operated under water, the rigid support 1 is provided with anti-water chamber 5, so as to
It is installed on wherein in for binocular vision imaging system 3.Further, anti-water chamber 5 is provided with double with binocular vision imaging system 3
The corresponding light penetrating panel of taking lens of mesh camera, in order to pass through the visual signal of photoelectric signal collection target object.
Further, binocular vision imaging system 3 is fixedly mounted on rigid support with sonograms system 2 by setpoint distance
On 1, so as to be prepared for successive image fusion.It should be understood that binocular vision imaging system 3 and sonograms system 2
Distance can be configured according to actual needs, can be to be fixedly installed, setting for adjustable distance can also be made as needed
Put.
The sonograms system 2 includes sonar sensing probe and signal processing module, passes through sonar sensing probe
The detection that sonar carries out target object is sent, and the sonar signal of reflection is received by signal processing module, is carried out at analysis
Reason obtains sonar image data.In the present embodiment, sonar sensing probe and signal processing module are integral type, fixed
Installed in the bottom of rigid support 1.It should be understood that the sonar sensing probe and sonar signal processing module can also be split
Formula, sonar sensing probe is fixedly mounted on the bottom of rigid support 1, and signal processing module then may be mounted on ship or
On other devices, it is connected with sonar sensing probe by wired or wireless communication, receives the sound that sonar sensing probe is sensed
Receive signal.
In the present embodiment, the sonar sensing probe is simple beam sonar sensing probe, and simple beam sonar is a moment
Launch a branch of sound wave to a direction, as shown in Figure 2.
It can see from Fig. 2-1, angle very little of the acoustic wave beam on test surface is similar to a line.And from Fig. 2-2
On see, acoustic wave beam be on the vertical plane vertical with test surface in sector.
The wave beam of the sonar return to be received such as after wave beam is sent, draws out according to the time order and function received in picture
Far and near different point cloud, as Figure 2-3.
This creates the terminal a phenomenon, it is assumed that has a rod on the vertical plane of sonar detection, as in Figure 2-4.
Sound wave can be returned after A points and B points is got to, and due to distance, it is relatively early that A points are returned, and such rod is obtained
Sonar image as shown in Figure 2-5.That is, although the scanning of simple beam sonar is two-dimentional image, but it is in radius
Depth point on direction maintains the elevation information of object.And because 2 points of location of A, B may be different, such as Fig. 2-6,
This depth reflects also difference, so this elevation information is a not sure dynamic value, can be with this highly
Information roughly estimates the height of target object within the scope of which, in order to being carried out with binocular vision imaging system diagram picture
Fusion.The squint very little on test surface direction is additionally, since, then the width of target object is then accurate value,
Can directly with binocular vision imaging system image co-registration.
The binocular vision imaging system 3 includes binocular camera and binocular cues processing module, passes through binocular camera
The detection of target object is carried out, and the binocular cues detected are received by binocular cues processing module, is analyzed and processed
Binocular image data.In the present embodiment, binocular camera and binocular cues processing module are integral type, use waterproof material
It is fixedly mounted on after sealing in the anti-water chamber 5 of rigid support 1, anti-water chamber 5 is provided with the binocular with binocular vision imaging system 3
The corresponding light penetrating panel of taking lens of camera, in order to pass through the visual signal of photoelectric signal collection target object.Can be with
Understand, the binocular camera and binocular cues processing module can also be split type, and binocular camera is fixedly mounted on rigidity
In the anti-water chamber 5 of support 1, and binocular cues processing module then may be mounted on ship or on other devices, be taken the photograph with binocular
As head is connected by wired or wireless communication, the binocular cues that binocular camera is sensed are received.In the present embodiment,
The binocular vision system is pure passive binocular vision system, if the biocular systems realized with other modes are substituted, can be completed
Most of function that the device is realized.
The fusion of imaging processing system 4 is connected with sonograms system 2 and binocular vision imaging system 3, for merging figure
As signal, including FPGA processing modules, parsing graphics module and fusion treatment module.In the present embodiment, the fusion of imaging
Processing system 4 is arranged on the water surface, and cable connecting communication is passed through with sonograms system 2 and binocular vision imaging system 3；Can be with
Understand, fusion of imaging processing system 4 can also pass through wireless signal with sonograms system 2 and binocular vision imaging system 3
It is attached communication；Fusion of imaging processing system 4 can also be set under water, by wired or wireless signal by after fusion treatment
Image be sent to display device on the water surface.
Wherein, FPGA processing modules are connected with signal processing module and binocular cues processing module, and both are adopted
The data of collection merge processing, and send into DDR, and data progress network is sent into parsing using ARM V2 interfaces draws
Module.Parsing graphics module can be arranged on PC ends, be connected with the communication of FPGA processing modules, and by after receive, merging
The data are parsed, and sonar image and binocular image are drawn out respectively；Fusion treatment module is connected with parsing graphics module,
Height, width, abscissa and the depth information provided according to sonar image, travels through each region of the binocular image, fusion
Obtain fused images.
As shown in figure 3, the method for the sonar and the fusion of imaging device fusion of imaging of binocular vision imaging system, including with
Lower step：
S1：Sonograms system sends sonar detection target object, and when finding target object, rigid support is close
The target object.
Specifically, sonograms systems stay sends sonar signal (include but is not limited to simple beam sonar), and passes through
Monitor whether to receive the sonar signal of passback to judge whether to find target object.When finding target object, from target
Object farther out when, driving ship or other devices drives the movement of rigid support 1 and close to target object；If do not detected
Target object, continues to detection.
S2：When the distance of rigid support and target object reaches setpoint distance, start binocular vision imaging system, by sound
Sodium imaging system and binocular vision imaging system gather picture signal respectively simultaneously；
Specifically, when the distance of rigid support and target object reaches setpoint distance, binocular vision imaging system is started,
The sonar signal of the sonar sensing probe collection target object reflection of sonograms system, and it is sent to signal processing module
Handled, form sonar image data；The binocular camera of binocular cues processing module gathers the photosignal of target object,
And be sent to binocular cues processing module and handled, form binocular image data.Pass through sonograms system and binocular vision
Imaging system gathers picture signal simultaneously, until completing the scanning probe of whole target object.
S3：Fusion of imaging processing system fusion steps S2 acquired images signal formation fused images.
Specifically, comprise the following steps：
S3-1：The FPGA processing modules of fusion of imaging processing system receive sonar image data and binocular image data, and
Merge processing, output to parsing graphics module；Specifically, gathering image respectively by two subsystems, it will collect
Data be incorporated at one and send into DDR by FPGA processing, data are subjected to network transmission to PC using ARM V2 interfaces
End.
S3-2：Parsing graphics module is simultaneously parsed the data after receive, merging, and sonar image is drawn out respectively
And binocular image, output to fusion treatment module；Specifically, PC ends are carried out respectively after receiving data via network to data
Parsing, draws out two subsystems acquired image, output to fusion treatment module.
S3-3：Height, width, abscissa and depth information that fusion treatment module is provided according to the sonar image, time
Each region of the binocular image is gone through, fusion obtains fused images.
Specifically, as shown in figure 4, comprising the following steps：
S3-3-1：Two image coordinates and visual field are adjusted, target object is in overlap condition；
Specifically, according to binocular camera and the distance and position relation of sonar sensing probe, the center of target object is utilized
Point position and profile information, regulation sonar image and binocular image coordinate and visual field, make target object be in substantially overlap condition；
S3-3-2：Object general height, width, depth and abscissa information are obtained by sonar image；
Specifically, what is gathered by simple beam sonograms system is two dimensional image, and is influenceed by scanning object height
A part of object height information can be retained, so being provided using simple beam sonograms system diagram picture for binocular vision electro-optical system
Object abscissa information, object width information, object depth information and object general height information.
S3-3-3：Primary image is first obtained according to depth matching, then stain is filtered with width, abscissa；
S3-3-4：It is in place that four information traversal binocular image, one region provided by sonar image obtains object institute
Put；
Specifically, this four information that binocular vision electro-optical system is provided by simple beam sonograms system by time
Go through approximate location where the object for contrasting and obtaining in binocular image；
S3-3-5:Image information beyond object position is abandoned, processing is filtered to the position, further abandons and makes an uproar
Sound point, obtains final fused images.
In the present invention, by the fusion of sonograms system and binocular vision imaging system, thing in water can be effectively detected
Specific profile, surface information and the depth information of body, solve the problem of object being particularly under water under deep water perceives difficult, are
The related work being particularly under water under deep water provides strong solution.
It should be understood that above example only expresses the preferred embodiment of the present invention, it describes more specific and detailed
Carefully, but can not therefore and be interpreted as the limitation to the scope of the claims of the present invention；It should be pointed out that for the common skill of this area
For art personnel, without departing from the inventive concept of the premise, independent assortment can be carried out to above-mentioned technical characterstic, can also done
Go out several modifications and improvements, these belong to protection scope of the present invention；Therefore, it is all to be done with scope of the invention as claimed
Equivalents and modification, all should belong to the covering scope of the claims in the present invention.
Claims (9)
1. the fusion of imaging device of a kind of sonar and binocular vision imaging system, it is characterised in that including rigid support, sonar into
Sonograms system and binocular vision imaging system as described in system, binocular vision imaging system and connection and fusion treatment
Picture signal fusion of imaging processing system；The sonograms system includes the sound being fixedly mounted on the rigid support
Receive and sensing probe and communicate the signal processing module that is connected with the sonar sensing probe；The binocular vision imaging
System includes the binocular camera being fixedly mounted on the rigid support and pair being connected is communicated with the binocular camera
Mesh signal processing module；
The fusion of imaging processing system includes FPGA processing modules, parsing graphics module and fusion treatment module；
The FPGA processing modules are connected with the signal processing module and binocular cues processing module, and both are gathered
Data merge processing, be sent to the parsing graphics module；
Parsing graphics module and the FPGA processing modules communication is connected, and by the data after receive, merging
Parsed, sonar image and binocular image are drawn out respectively；
The fusion treatment module is connected with the parsing graphics module, according to the height, width, horizontal stroke of sonar image offer
Coordinate and depth information, travel through each region of the binocular image, and fusion obtains fused images.
2. the fusion of imaging device of sonar according to claim 1 and binocular vision imaging system, it is characterised in that described
Sonar sensing probe is simple beam sonar sensing probe.
3. the fusion of imaging device of sonar according to claim 1 and binocular vision imaging system, it is characterised in that described
Rigid support includes being installed on anti-water chamber therein for the binocular camera；The anti-water chamber is provided with and taken the photograph with the binocular
As the corresponding light penetrating panel of taking lens of head.
4. the fusion of imaging device of sonar according to claim 1 and binocular vision imaging system, it is characterised in that described
Binocular camera is fixedly mounted on the rigid support with the sonar sensing probe by setpoint distance.
5. a kind of usage right requires any one of 1-4 sonar and the fusion of imaging device fusion of imaging of binocular vision imaging system
Method, it is characterised in that comprise the following steps：
S1：Sonograms system sends sonar detection target object, and when finding target object, by rigid support close to described
Target object；
S2：When the distance of the rigid support and the target object reaches setpoint distance, start binocular vision imaging system,
Picture signal is gathered by the sonograms system and binocular vision imaging system respectively simultaneously；
S3：The described image signal formation fused images that fusion of imaging processing system fusion steps S2 is gathered.
6. method according to claim 5, it is characterised in that in the step S1, the sonograms system is sent
Simple beam sonar carries out target object detection.
7. method according to claim 5, it is characterised in that in the step S2, comprise the following steps：
S2-1：The sonar sensing probe of the sonograms system gathers the sonar signal of the target object reflection, and transmits
Handled to signal processing module, form sonar image data；
S2-2：The binocular camera of the binocular cues processing module gathers the photosignal of the target object, and is sent to
Binocular cues processing module is handled, and forms binocular image data.
8. method according to claim 5, it is characterised in that in the step S3, comprise the following steps：
S3-1：The FPGA processing modules of the fusion of imaging processing system receive the sonar image data and binocular image number
According to, and carry out merging treatment, output to parsing graphics module；
S3-2：The parsing graphics module is simultaneously parsed the data after receive, merging, and sonar image is drawn out respectively
And binocular image, output to fusion treatment module；
S3-3：Height, width, abscissa and depth information that the fusion treatment module is provided according to the sonar image, time
Each region of the binocular image is gone through, fusion obtains fused images.
9. method according to claim 8, it is characterised in that in the step S3-3, according to the binocular camera
With the distance and position relation of the sonar sensing probe, the center position and profile information of the target object, regulation are utilized
The sonar image and the binocular image are in overlap condition.
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| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN106908778A (en) * | 2017-04-18 | 2017-06-30 | 上海达华测绘有限公司 | Detecting system and detection method |
| CN108492323B (en) * | 2018-01-18 | 2022-01-28 | 天津大学 | Underwater moving object detection and identification method fusing machine vision and hearing |
| CN109143247B (en) * | 2018-07-19 | 2020-10-02 | 河海大学常州校区 | Three-eye underwater detection method for acousto-optic imaging |
| CN109298430B (en) * | 2018-08-08 | 2020-10-27 | 西安交通大学 | Underwater composite bionic detection device and detection target fusion identification method |
| CN109443545A (en) * | 2018-11-28 | 2019-03-08 | 深圳市乾行达科技有限公司 | Fault location system and method |
| CN109788163A (en) * | 2019-03-26 | 2019-05-21 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and technique of laser range gated imaging equipment |
| CN109884642B (en) * | 2019-03-26 | 2022-12-13 | 南京砺剑光电技术研究院有限公司 | Fusion imaging method adopting multi-beam sonar and laser auxiliary illumination imaging equipment |
| CN112113506A (en) * | 2020-08-31 | 2020-12-22 | 天津蓝鳍海洋工程有限公司 | Underwater moving object measuring device and method based on deep learning |
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| CN102042835B (en) * | 2010-11-05 | 2012-10-24 | 中国海洋大学 | Autonomous underwater vehicle combined navigation system |
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